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8/9/2019 DARwIn OP Wiring Manual
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DARwIn OP Wiring Manual
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Principal authors:
Thanh Pham
Stephen Rouleau
Coleman Knabe
Matthew StanfordNolawe Woldesemayat
Mark Umansky
Justin Siegal
Austin Kim
Allison McCormack
Dante Branch
Viktor Orekhov
PERMISSION IS GRANTED TO COPY, DISTRIBUTE AND/OR MODIFY THIS DOCUMENT UNDER
THE TERMS OF THE CREATIVE COMMONS ATTRIBUTION-NONCOMMERCIAL-SHARE ALIKE
3.0 UNPORTED LICENSE. TO VIEW A COPY OF THIS LICENSE, VISIT HTTP://CREATIVECOMMONS.ORG/LICENSES/BY-NC-SA/3.0/
DARwIn OP Wiring ManualCreated by RoMeLa at Virginia Tech
Version: 1.0.1
Created: 5/3/2011
Modified: 7/26/2011
THIS WIRING MANUAL IS TO BE USED IN
CONJUNCTION WITH THE FOLLOWING DOCUMENTS:
DARwIn OP Assembly ManualDARwIn OP Fabrication Manual
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DARwIn OP Wiring Manual
Table of contents
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2. Motor Connections
Wire No. From To Approximate Length (cm)
WM1 M20 M19 19
WM2 M19 FitPC 8
WM3 M1 FitPC 10
WM4 M2 FitPC 10WM5 M7 FitPC 23
WM6 M8 FitPC 17
WM7 M5 M3 5
WM8 M3 M1 18
WM9 M6 M4 5
WM10 M4 M2 18
WM11 M9 M7 13
WM12 M10 M8 13
WM13 M11 M9 6
WM14 M12 M10 6
WM15 M13 M11 18
WM16 M14 M12 18
WM17 M15 M13 25
WM18 M16 M14 25
WM19 M17 M15 6
WM20 M18 M16 6
WM
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3-1. Parts List 1 - Electronics
Part Number Description Qty.
19 Camera 1
20 Head PCB 1
22 FitPC 1
23 CM730 1
24 Antenna 1
25 Antenna Connector 1
26 Fan 2
27 Back Cover PCB 1
29 Speaker 1
30 Power Switch 1
31 Battery 1
42 Antenna PCB 1
19 20
22 23
24 25 26 27
30
29
42
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3-2. Parts List 2 - Wires
Wire No. Wire NameApproximate
Length (cm)
W1 Fan Wire 5
W2 Fan PCB Wire 8-pin 18
W3 Fan PCB Wire 9-pin 18
W4 Power Switch Wire 13
W5 Speaker Wire 13
W6 Speaker Extension Wire 9
W7 Antenna Wire 10
W8 Antenna PCB Wire 5
W9 FitPC 3-Way Wire 5
W10 CM730 to FitPC-Top Wire 11
W11 CM730 to FitPC-Bottom Wire 13
W12 Head PCB Wire 10-pin 28
W13 Camera PCB Wire 23
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5. Chest Section Wiring
W1
W2 (8-pins) W3 (9-Pins)
5-3 Fan Wiring
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5. Chest Section Wiring
5-4 Head PCB Connection to CM730
W12
Front View Back View
Head PCB
Connects to CM730
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C S
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5. Chest Section Wiring
Antenna
Connector
W7W8
Antenna PCB
5-6 Antenna Wiring
Backside of
FitPC
5 Ch t S ti Wi i
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5. Chest Section Wiring
5-7 FitPC Connection to CM730
FitPC Top Side FitPC Bottom Side
W10 W9
Connects to CM730 Connects to CM730
6 M t Wi R ti
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6. Motor Wire Routing
6-1 Routing for the Head
M20
M16
W12
Head PCB
WM1
WM2
6 M t Wi R ti
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6. Motor Wire Routing
6-2 Routing for the Arms
Left Arm
* Note that the right arm will follow the same routing configuration
M6
M4
M2
WM9
Wire WM9 should be fed through the center
hole of the arm actuator mount before connecting
to motor M4.
6 M t Wi R ti
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6. Motor Wire Routing
6-2 Routing for the Arms
Left Arm
* Note that the right arm will follow the same routing configuration
M6
M4
M2
WM10
WM4
Connects to CM730
6 M t Wi R ti
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6. Motor Wire Routing
6-2 Routing for the Arms
Left Arm
* Note that the right arm will follow the same routing configuration
M6
M4
M2
Attach the cable holder to keep wire
WM10 from getting tangled.
WM10
Cable Holder
6 M t Wi R ti
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6. Motor Wire Routing
6-3 Routing for the Legs
Left Leg
* Note that the right leg will follow the same routing configuration
M14
M10
M8
Attach the cable holders to keep wire
WM18 from getting tangled.
WM18
Cable
Holders
M18
M12
M16
6 M t Wi R ti
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6. Motor Wire Routing
6-3 Routing for the Legs
Left Leg
* Note that the right leg will follow the same routing configuration
M14
M10
M8
Attach the cable holders to keep wire
WM16 from getting tangled.
WM12
Cable
Holders
M18
M12
M16
WM16
WM14
6 Motor Wire Routing
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6. Motor Wire Routing
6-3 Routing for the Legs
Left Leg
* Note that the right leg will follow the same routing configuration
M14
M12
M8 WM12
M16
M10
M18
WM14
WM6
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